diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
index e04b8e7043..0d9a57255b 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
@@ -76,6 +76,14 @@ public:
 class IDynamicNodeIDAllocationServerEventTracer
 {
 public:
+#if UAVCAN_TOSTRING
+    /**
+     * It is safe to call this function with any argument.
+     * If the event code is out of range, an assertion failure will be triggered and an error text will be returned.
+     */
+    static const char* getEventName(uint16_t code);
+#endif
+
     /**
      * The server invokes this method every time it believes that a noteworthy event has happened.
      * The table of event codes can be found in the server sources.
@@ -658,7 +666,7 @@ public:
     }
 };
 
-} // namespace dynamic_node_id_impl
+} // namespace dynamic_node_id_server_impl
 
 /**
  *
diff --git a/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp b/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
index 98b0ef0106..5707b165e0 100644
--- a/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+++ b/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
@@ -15,6 +15,51 @@
 
 namespace uavcan
 {
+/*
+ * IDynamicNodeIDAllocationServerEventTracer
+ */
+#if UAVCAN_TOSTRING
+const char* IDynamicNodeIDAllocationServerEventTracer::getEventName(uint16_t code)
+{
+    using namespace dynamic_node_id_server_impl;
+
+    // import re
+    // make_strings = lambda s: ',\n'.join('"%s"' % x for x in re.findall(r'\ \ \ \ Trace([A-Za-z0-9]+),', s))
+    static const char* const Strings[NumTraceEventCodes] =
+    {
+        "Error",
+        "LogLastIndexRestored",
+        "LogAppend",
+        "LogRemove",
+        "CurrentTermRestored",
+        "CurrentTermUpdate",
+        "VotedForRestored",
+        "VotedForUpdate",
+        "DiscoveryBroadcast",
+        "NewServerDiscovered",
+        "DiscoveryReceived",
+        "ClusterSizeInited",
+        "InvalidClusterSizeReceived",
+        "RaftCoreInited",
+        "RaftStateSwitch",
+        "RaftModeSwitch",
+        "RaftNewLogEntry",
+        "RaftRequestIgnored",
+        "RaftVoteRequestReceived",
+        "RaftVoteRequestSucceeded",
+        "RaftVoteRequestInitiation",
+        "RaftPersistStateUpdateError",
+        "RaftCommitIndexUpdate",
+        "RaftNewerTermInResponse",
+        "RaftNewEntryCommitted",
+        "RaftAppendEntriesCallFailure"
+    };
+    uavcan::StaticAssert<sizeof(Strings) / sizeof(Strings[0]) == NumTraceEventCodes>::check();
+    UAVCAN_ASSERT(code < NumTraceEventCodes);
+    return (code < NumTraceEventCodes) ? Strings[code] : "INVALID_EVENT_CODE";
+}
+#endif
+
 namespace dynamic_node_id_server_impl
 {
 /*
diff --git a/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp b/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
index 55a74f93f4..5de7b7a213 100644
--- a/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+++ b/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
@@ -57,9 +57,9 @@ class EventTracer : public uavcan::IDynamicNodeIDAllocationServerEventTracer
 {
     const std::string id_;
 
-    virtual void onEvent(uavcan::uint16_t event_code, uavcan::int64_t event_argument)
+    virtual void onEvent(uavcan::uint16_t code, uavcan::int64_t argument)
     {
-        std::cout << "EVENT [" << id_ << "]\t" << event_code << "\t" << event_argument << std::endl;
+        std::cout << "EVENT [" << id_ << "]\t" << code << "\t" << getEventName(code) << "\t" << argument << std::endl;
     }
 
 public:
@@ -874,6 +874,23 @@ TEST(DynamicNodeIDAllocationServer, RaftCoreBasic)
 }
 
 
+TEST(DynamicNodeIDAllocationServer, EventCodeToString)
+{
+    using uavcan::IDynamicNodeIDAllocationServerEventTracer;
+    using namespace uavcan::dynamic_node_id_server_impl;
+
+    // Simply checking some error codes
+    ASSERT_STREQ("Error",
+                 IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceError));
+    ASSERT_STREQ("RaftModeSwitch",
+                 IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceRaftModeSwitch));
+    ASSERT_STREQ("RaftAppendEntriesCallFailure",
+                 IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceRaftAppendEntriesCallFailure));
+    ASSERT_STREQ("DiscoveryReceived",
+                 IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceDiscoveryReceived));
+}
+
+
 TEST(DynamicNodeIDAllocationServer, ObjectSizes)
 {
     std::cout << "Log:             " << sizeof(uavcan::dynamic_node_id_server_impl::Log) << std::endl;